1 Introduction
Land and urban management require detecting changes in topography and urban areas. Topography changes in rural areas are generally the results of natural processes such as landslides, earthquakes, coastal erosion de- or afforestation. Urban changes consist of new constructions, extensions, destructions, excavation work and earth fill formed by natural or human effects. Change detection in urban areas is essential for planning, management, building and discovering unauthorized construction activities. In addition, the results of earthquakes can

determine the angular position of the UAV (angles of roll and pitch). The task was carried out with the help of the micro-controller AVR A Tmega 16 with the algorithm of the optimal Kalman recursive filter incorporated in it. The device proposed by the authors determines the angles of roll and pitch with errors ± 1°–3° in the steady state, and ± 3°–10° in the dynamic mode. The range of measuring the roll angles is ± 175° and the pitch angles is ± 90°. It should be noted that about 60% of the flights of a small aircraft are carried out according to the rules of visual